1. Intro
Recently, I re-implemented RRT algorithm in Python, and learned a lot during the optimization process
2. Numpy
Vectorized calculation like Numpy would save a lot of time
3. O(N)?
Sometimes, we need to change the algorithm for speed
For example, for looking the nearest point, plain algorithm O(N) even using Numpy is slow
Change the data structure to KDTree would boost the speed
4. Profile
Profile is an important tool to analyze the performance, so we could focus on the most time consuming part and optimize it